Mushroom harvesting robot system

Abstract

The invention relates to a mushroom harvesting robot system which solves the technical problems that when an existing agaricus bisporus automatic picking robot and a related collecting device are used for collecting picked agaricus bisporus, manpower is consumed, efficiency is low, and the collecting number is small. The automatic collecting device comprises a first transporting vehicle body synchronously advancing with the automatic picking robot, a charging basket putting device, a charging basket conveying device, a material receiving and feeding device and a second transporting vehicle body; the charging basket putting device, the charging basket conveying device and the material receiving and feeding device are located on the first transporting vehicle body; the second transporting vehicle body is used for receiving charging baskets output by the charging basket conveying device and directionally transferring the charging baskets; the operation efficiency is further improved, and the higher intelligent operation requirement is met.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic Agaricus bisporus picking, and in particular to a mushroom harvesting robot system. Background Art

[0002] Agaricus bisporus is a common edible fungus. It has extremely high nutritional and medicinal value and can be processed into various foods, health products, and even medicines. It has considerable economic value.

[0003] Agaricus bisporus cultivation has achieved large-scale factory production. Factory-grown mushroom houses are not restricted by seasons, allowing for daily fruiting and year-round production, resulting in high yields and profitable returns. Factory-grown mushroom houses are typically 20-30 meters long, 6-10 meters wide, and 5-6 meters high. They can be equipped with two to four rows of multi-layered beds running the length of the house. These beds are typically made of metal structural profiles, 1-1.6 meters wide, with five to six layers, and 50-70 centimeters between them. The lowest bed is approximately 30 centimeters from the ground, while the highest is at least 1 meter from the roof. Passageways between the beds are 80-100 centimeters wide, and the passageways between the beds and the walls are 40-80 centimeters wide.

[0004] Agaricus bisporus cultivation is a labor-intensive industry. In recent years, labor costs have been rising. Furthermore, Agaricus bisporus has the biological characteristics of uneven size and 24-hour growth, which places high demands on labor picking skills and working hours. The high labor costs faced by Agaricus bisporus cultivation factories are becoming increasingly serious. Automatic picking and harvesting by automated picking robots can save manpower, improve efficiency, and reduce costs. For information on the structure and working method of the automatic picking robot, please refer to the invention application with publication number CN 113940239 A, entitled "Intelligent Picking System," and the utility model patent with authorization publication number "CN217372374U," entitled "A Mobile Agaricus Bisporus Picking Robot."

[0005] Since the environment in the factory mushroom house can be controlled automatically or semi-automatically, production is not restricted by seasons, the mushroom yield is high, and the benefits are good.

[0006] However, the existing automatic picking robots and collection devices have the following technical defects during operation: (1) Since the mushroom storage baskets filled with mushrooms are distributed circumferentially on the circulation chain, after the automatic picking robot completes the collection of mushrooms on the multi-layer bed frame, it is necessary to manually replace the mushroom storage baskets one by one, that is, to remove the mushroom storage baskets filled with mushrooms, dump the mushrooms and then put them back on the corresponding tray, resulting in low collection efficiency and a small collection quantity; (2) The roots of the mushrooms cut by the automatic picking robot fall directly on the ground of the mushroom house and are not effectively collected. They need to be manually cleaned, resulting in the automation level of the entire picking system needs to be improved. Summary of the Invention

[0007] The present application aims to address the deficiencies of the prior art and to provide a mushroom harvesting robot system that improves collection efficiency, collects mushrooms and mushroom roots synchronously, and effectively improves the automation level of mushroom harvesting.

[0008] The present invention provides a mushroom harvesting robot system, comprising a robot transfer frame, a transfer forklift for lifting the robot transfer frame, an automatic picking robot and an automatic collecting device, the automatic collecting device comprising a first transport vehicle body that moves synchronously with the automatic picking robot, a material basket delivery device located on the first transport vehicle body, a material basket transmission device and a material receiving and delivering device, and a second transport vehicle body for receiving the material basket output by the material basket transmission device and directionally transferring the material basket, the material basket delivery device comprising a front frame, a first lifting mechanism, a first lifting plate, an inner frame and an opposite clamping mechanism, the front frame is fixed on the first transport vehicle body, the first lifting plate The lifting mechanism is fixed in the front frame and connected to the inner frame through the first lifting plate. The opposing clamping mechanism is fixed on the inner frame and has a left clamping plate and a right clamping plate for clamping the material basket after moving oppositely. The material receiving and feeding device includes a main frame, a first-layer inclined plate, a belt frame, a mushroom holding box, a root collecting hopper and an upper inclined plate. The main frame is fixed on one side of the front frame and the main frame is divided into a first material collecting area and a second material collecting area along the length direction. The first-layer inclined plate is installed on the inner side of the main frame and tilted toward the first layer of the multi-layer bed frame, and the first-layer inclined plate is provided with a first channel corresponding to the first material collecting area and a first channel corresponding to the first material collecting area The second channel corresponding to the second material receiving area is fixed on the main frame, and the lower end of the belt frame extends to the first material receiving area and is rotatably connected to the main pulley, and the upper end of the belt frame extends to a position higher than the uppermost layer of the multi-layer bed frame and is rotatably connected to the slave pulley. A flow motor for driving the main pulley to rotate is fixed on the main frame, and the main pulley and the slave pulley are connected through a flow synchronous belt. There are multiple mushroom receiving boxes, which are fixed on the flow synchronous belt along the circumference, and the mushroom receiving boxes are turned from the far side of the belt bracket with the opening upward to the near side of the belt bracket with the opening downward. There are multiple root receiving hoppers, which are arranged along the vertical Towards the far side fixed on the belt frame, the bottom of the root collecting hopper is connected to a discharge pipe arranged toward the second collecting area. The upper slope plate is installed on the inner side of the root collecting hopper and inclined toward the non-first layer of the corresponding multi-layer bed frame. Each upper slope plate is provided with a main channel corresponding to the opening of the mushroom holding box and a slave channel corresponding to the opening of the root collecting hopper. The material basket transmission device includes a horizontal transmission component and a vertical reversing transmission component. The proximal end of the horizontal transmission component is connected to the front frame, and the distal end of the horizontal transmission component extends to the main frame below the second collecting area. The vertical reversing component is located in the main frame and is arranged corresponding to one side of the second transport body.

[0009] Preferably, the second transport vehicle body includes a second guide rail, a second frame, a first conveyor belt mechanism, a second conveyor belt mechanism and a second travel motor. The bottom of the second frame rolls in cooperation with the second guide rail through the second travel bottom wheel, and the second travel motor is fixed on the second frame. The first conveyor belt mechanism and the second conveyor belt mechanism are arranged side by side on the surface of the second frame, corresponding to the first material receiving area and the second material receiving area respectively. Preferably, the automatic picking robot includes a base, a walking mechanism, a picking actuator, an X-axis moving mechanism, a Y-axis moving mechanism, a conveying device and a root cutting device. The conveying device includes a base plate, a conveying drive motor, an active conveying roller, a driven conveying roller, a conveyor belt and a soft brush rib. The soft brush rib is fixed on the base plate, the conveying drive motor is fixed at the proximal end of the base plate, the active conveying roller is connected to the output end of the conveying drive motor, the driven conveying roller is rotatably connected to the distal end of the base plate, the conveyor belt is cooperatively connected to the active conveying roller and the driven conveying roller, and the conveyor belt includes a first conveying part and a second conveying part; there are three soft brush ribs arranged side by side, the first soft brush rib is located on the outside of the first conveying part, the second soft brush rib is located between the first conveying part and the second conveying part, and the third soft brush rib is located on the outside of the second conveying part.

[0010] The beneficial effects of the present disclosure are that it greatly improves the collection efficiency, reduces manual intervention, reduces labor costs, and thus improves the collection efficiency of the entire system.

[0011] The automatic collection device can simultaneously collect and weigh the mushrooms and mushroom roots collected by the automatic picking robot to complete quantitative picking, further improving the automation and intelligence of the system. At the same time, the basket delivery device, basket transmission device and second transport vehicle in the automatic collection device cooperate to realize the automatic delivery and transmission of baskets, replacing the traditional manual basket changing operation and further improving picking efficiency. It can adapt to baskets of different sizes.

[0012] The efficiency, convenience, and flexibility of the picking robot's layer-changing work on the multi-layer bed frame are improved. The forklift-based layer-changing device does not take up space in the factory, is more convenient and flexible to use, and has higher efficiency in layer-changing work.

[0013] Further features and aspects of the present disclosure will be clearly described in the following description of the specific embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is an axonometric view of the mushroom harvesting robot system;

[0015] Figure 2 It is a structural diagram of the automatic picking robot in the present invention;

[0016] Figure 3 It is a partial structural diagram of the root cutting and conveying device of the present invention;

[0017] Figure 4 This is a schematic diagram of the partial structure of the root cutting and conveying device of the present invention from another angle;

[0018] Figure 5 It is a structural schematic diagram of the dishwashing and cleaning assembly of the present invention;

[0019] Figure 6 yes Figure 2 A partial enlarged view of middle A;

[0020] Figure 7 yes Figure 2 A partial enlarged view of B in the middle;

[0021] Figure 8 yes Figure 1 A schematic diagram of the partial structure of the connection between the automatic collecting device and the multi-layer bed frame in the structure shown;

[0022] Figure 9 This is a left view of the connection between the automatic collection device and the multi-layer bed frame;

[0023] Figure 10 It is an axonometric drawing of the automatic acquisition device;

[0024] Figure 11 This is the main view of the material receiving and feeding device;

[0025] Figure 12 It is a partial schematic diagram of the main frame of the present invention;

[0026] Figure 13 It is a partial schematic diagram of the main frame of the present invention from another angle;

[0027] Figure 14 It is a partial schematic diagram of the upper end of the belt frame body in the present invention;

[0028] Figure 15 This is a schematic structural diagram of the connection between the conductive contact and the second displacement component in the present invention;

[0029] Figure 16 It is a structural schematic diagram of the first transport vehicle body and the second transport vehicle body in the present invention;

[0030] Figure 17 It is a left side view of the first transport vehicle body and the second transport vehicle body of the present invention;

[0031] Figure 18 It is a structural schematic diagram of the connection between the carbon brush and the first displacement assembly in the present invention;

[0032] Figure 19 It is a schematic diagram of the structure within the front frame of the present invention;

[0033] Figure 20yes Figure 19 A schematic structural diagram of the structure shown from another angle;

[0034] Figure 21 It is a structural schematic diagram of the positioning clamping assembly and the basket centering assembly in the present invention;

[0035] Figure 22 This is a structural schematic diagram of the positioning clamping assembly and the basket centering assembly in the present invention from another angle;

[0036] Figure 23 It is a structural schematic diagram of the vertical reversing transmission component of the present invention;

[0037] Figure 24 It is a structural schematic diagram of the push basket assembly in the present invention;

[0038] Figure 25 This is a partial structural diagram of the robot transfer frame of the present invention being located on a transfer forklift;

[0039] Figure 26 It is a structural schematic diagram of the track docking assembly in the present invention;

[0040] Figure 27 It is a schematic diagram of the structure of the connection between the bristles and the brush plate in the suction cup cleaning assembly.

[0041] Explanation of symbols in the figure:

[0042] 100. Automatic picking robot; 101. Base; 102. Walking mechanism; 103. Picking actuator; 104. X-axis moving mechanism; 105. Y-axis moving mechanism; 106. Base plate; 10601. Trough; 10602. Trough; 10603. Discharge port; 107. Conveyor drive motor; 108. Active conveyor roller; 109. Driven conveyor roller; 110. Conveyor belt; 11001. First conveyor section; 11002. Second conveyor section; 111. Soft brush rib; 112. Root cutting connector; 113. Forward drive motor; 114. Driving gear; 115. Driven rack; 116. Electric finger gripper; 117. Scissor blade; 118. Linear slide; 119. Forward slider; 120. First Proximity switch; 121, second proximity switch; 122, sensor block; 123, suction cup cleaning tank; 124, brush plate; 125, cleaning motor; 126, water collection tank; 127, water inlet pump; 128, drain pump; 129, door frame; 130, door stop plate; 131, door shaft; 132, door shaft rotation motor; 133, brush; 200, automatic collection device; 201, first guide rail; 202, first frame; 203, first walking bottom wheel; 20301, first active walking bottom wheel; 20302, first driven walking bottom wheel; 204, first walking motor; 205, front frame; 20501, front vertical track; 20502, rear vertical track; 206, first lifting mechanism; 207, first lifting plate; 208, inner frame; 20801, front roller; 20802, rear roller; 209, left clamping plate; 210, right clamping plate; 211, opposite clamping drive motor; 212, driving gear; 213, driven gear; 214, driving forward and reverse screw; 215, driven forward and reverse screw; 216, first toothed belt; 217, first left screw nut; 218, first right screw nut; 219, second left screw nut; 220, second right screw nut; 221, first connecting plate; 222, second connecting plate; 223, coupling; 224, main frame; 22401, first material receiving area; 22402, second material receiving area; 225, first floor ramp; 22501, first channel; 22502, Second channel; 226, belt frame; 227, mushroom container; 228, root collection hopper; 229, upper ramp; 22901, main channel; 22902, slave channel; 230, main pulley; 231, slave pulley; 232, flow motor; 233, flow timing belt; 234, feed pipe; 235, top wheel; 23501, third lifting mechanism; 23502, lifting frame; 23503, vertical sliding shaft; 23504, sliding block; 23505, spring member; 236, busbar; 237, carbon brush; 238, second lifting mechanism; 239, second lifting plate; 240, first translation mechanism; 241, translation plate; 242, pin; 243, conductive contact; 244, charging base;245. Conductive contact connection bracket; 24501. Guide groove; 246. Electric push rod; 247. Hinge joint; 24701. Horizontal slider; 24702. Hinge shaft; 248. Swing arm; 24801. Hinge portion; 24802. Arc groove; 249. Second guide rail; 250. Second frame; 251. First conveyor belt mechanism; 252. Second conveyor belt mechanism; 253. Second travel motor; 254. Second travel bottom wheel; 255. Roller drive motor; 256. Active step pulley; 257. Driven roller; 258 , slave synchronous pulley; 259, tensioning pulley; 260, second toothed belt; 261, positioning and clamping drive motor; 262, bidirectional screw; 263, guide light axis; 264, front splint; 265, rear splint; 266, probe; 267, front nut seat; 268, front slider; 269, rear nut seat; 270, rear slider; 271, load-bearing frame; 272, lifting drive motor; 273, lifting screw; 274, lifting nut; 275, weighing plate; 276, weighing sensor; 277, pressure plate; 278, synchronous drive motor; 279, transmission plate; 280, left conveyor belt transmission mechanism; 281, right conveyor belt transmission mechanism; 282, side baffle; 283, second light transmitting and receiving module; 284, origin induction sensor; 285, spring; 300, multi-layer bed frame, 300-1, slide; 301, robot storage rack; 302, robot transfer rack; 303, slide; 304, electric push rod; 305, top pressure block; 306, auxiliary rail; 30601, slide; 307, rotating motor; 308, first crank; 309, second crank; 3 10. Ball joint; 400. Basket assembly; 500. Transfer forklift; 1. Second translation mechanism; 2. Side push plate; 3. Front and rear clamping drive motors; 4. Clamping screw; 5. Clamping optical axis; 6. Front baffle; 7. Rear baffle; 8. First nut seat; 9. Second nut seat; 10. First slider; 11. Second slider; 12. Forward push drive motor; 13. Fixed plate; 14. Active rocker arm; 15. Slave rocker arm; 16. Forward push plate; 17. Active rotating shaft; 18. First driven rotating shaft; 19. Second driven rotating shaft; 20. Third driven rotating shaft. DETAILED DESCRIPTION

[0043] The present application will be further described in detail below with reference to the accompanying drawings using specific embodiments.

[0044] The specific embodiments described below are merely preferred embodiments of the present application, and the scope of protection of the present application is not limited thereto. Those skilled in the art may make some modifications or variations based on or in accordance with the principles, concepts, and spirit of the present application, and the technical solutions formed by such modifications or variations shall be included within the scope of protection of the present application.

[0045] like Figure 1As shown, the present invention provides a mushroom harvesting robot system, including an automatic picking robot 100 and an automatic collecting device 200. Figure 2-Figure 6As shown, the automatic picking robot 100 includes a base 101, a walking mechanism 102, a picking actuator 103, an X-axis moving mechanism 104, a Y-axis moving mechanism 105, a conveying device and a root cutting device. The base 101, walking mechanism 102, picking actuator 103, X-axis moving mechanism 104 and Y-axis moving mechanism 105 of the above-mentioned automatic picking robot 100 are basically the same as the base 101, walking mechanism 102, picking actuator 103, first X-axis mounting plate, second X-axis mounting plate, first Y-axis mounting plate, second Y-axis mounting plate and the drive component structure on each mounting plate in the authorization announcement number CN113940239B, which is named as the intelligent picking system. The conveying device includes a base plate 106, a conveying drive motor 107, an active conveying roller 108, a driven conveying roller 109, a conveyor belt 110, and a soft brush rib 111. The conveying drive motor 107 is fixed to the proximal end of the base plate 106, the active conveying roller 108 is connected to the output end of the conveying drive motor 107, and the driven conveying roller 109 is rotatably mounted on the distal end of the base plate 106. The conveyor belt 110 is connected to the active conveying roller 108 and the driven conveying roller 109. The conveying drive motor 107 operates through the active conveying roller 108 and the driven conveying roller 109 to operate the conveyor belt 110. The conveyor belt 110 consists of two parts: a first conveying portion 11001 and a second conveying portion 11002. The second conveying portion 11002 is used to convey mushroom roots, and the first conveying portion 11001 is used to convey mushrooms (caps). The soft brush ribs 111 are fixedly mounted on the base plate 106. Three soft brush ribs 111 are arranged side by side: the first soft brush rib 111 is located outside the first conveying portion 11001, the second soft brush rib 111 is located between the first conveying portion 11001 and the second conveying portion 11002, and the third soft brush rib 111 is located outside the second conveying portion 11002. A groove 10602 is formed between the second and third soft brush ribs 111, and a groove 10601 is formed between the first and second soft brush ribs 111. A discharge port 10603 is provided on the base 101 at the distal end of the base plate 106. The soft brush retaining edge 111 forms a retaining surface with a certain blocking force. When the mushrooms picked by the picking actuator 103 move along the Y-axis direction driven by the Y-axis moving mechanism 105, they can pass through the soft brush retaining edge 111 (the soft brush composed of multiple vertical soft bristles is passed through by the mushrooms).The number of the root cutting connection seat 112, the forward driving motor 113, the driving gear 114, the driven rack 115, the electric finger gripper 116 and the scissor blade 117 is the same as the number of the Y-axis mounting plates in the Y-axis moving mechanism 105. In this solution, the basic mechanism of the automatic picking robot 100 in CN113940239B is adopted. The Y-axis moving mechanism 105 includes a first Y-axis mounting plate and a second Y-axis rotating plate. Therefore, the two root cutting connection seats 112 are respectively fixed to the corresponding first Y-axis mounting plate and the second Y-axis mounting plate near the groove 1. Below one side of 0602, a linear slide 118 is fixed to the bottom of the root cutting connection base 112. A driven rack 115 engages with the linear slide 118 via a forward slider 119. A forward drive motor 113 is fixed above the root cutting connection base 112. The output end of the forward drive motor 113 is connected to a drive gear 114 that meshes with the driven rack 115. An electric finger clamp 116 is fixed to the bottom surface of the driven rack 115. Two scissor blades 117 are fixed to the two jaws of the electric finger clamp 116 and are arranged toward the side of the groove 10602. The root cutting connection base 112, forward drive motor 113, drive gear 114, driven rack 115, electric finger clamp 116, scissor blades 117, linear slide 118, and forward slider 119 constitute the root cutting device, which has two sets. The picking actuator 103 moves with the Y-axis moving mechanism 105 and the X-axis moving mechanism 104 to move the picked mushrooms to the slot 10602. The forward driving motor 113 drives the driven rack 115 and the electric finger gripper 116 in the open state to move until the front of the two scissor blades 117 reaches the mushroom root (the mushroom root is located between the two scissor blades 117). The electric finger gripper 116 drives the two scissor blades 117 to close, and the root of the mushroom is cut off and falls onto the second conveyor 11002. In order to more accurately control the forward and backward positions of the electric finger gripper 116 according to the movement position of the driven rack 115, the first position and the second position of the root cutting connecting seat 112 are respectively connected to the first proximity switch 120 and the second proximity switch 121, and the driven rack 115 is provided with a sensing block 122 for cooperating with the first proximity switch 120 and the second proximity switch 121 for sensing; specifically, the first proximity switch 120 can be a magnetic sensor, the second proximity switch 121 can be a magnetic sensor, and the sensing block 122 can be a magnet.

[0046] The soft brush rib 111 functions, firstly, to remove dirt particles from mushrooms picked by the picking actuator 103. As the mushrooms pass through the soft brush rib 111, these dirt particles are scraped off, ensuring that the mushrooms are delivered clean. Secondly, it serves as a guide, facilitating the smooth and reliable delivery of mushrooms (caps) by the first conveying section 11001 of the conveyor belt 110 and the smooth and reliable delivery of mushroom roots by the second conveying section 11002.

[0047] like Figure 5 and Figure 27 As shown, a suction cup cleaning component is also provided in the base 101, and the suction cup cleaning component includes a suction cup cleaning tank 123, a brush plate 124, a cleaning motor 125, a water collecting tank 126, a water inlet pump 127 and a drainage pump 128, wherein the number of the suction cup cleaning tank 123, the brush plate 124, the cleaning motor 125, the water inlet pump 127 and the drainage pump 128 is the same as the number of the picking actuator 103. In this solution, the basic structure of the automatic picking robot 100 in CN113940239B is adopted, and there are two groups of picking actuators 103, so the suction cup cleaning tank 123, the brush plate 124, the cleaning motor 125, the water inlet pump 1 27 and drainage pump 128 are selected as two sets and are respectively installed on both sides of the central axis of the base 101. The two sets share a water collecting tank 126. The suction cup cleaning tank 123 is provided with a water inlet and a water outlet. The brush plate 124 is located in the suction cup cleaning tank 123. The brush plate 124 is connected to the output end of the cleaning motor 125 fixed to the bottom of the suction cup cleaning tank 123 via a rotating shaft. A number of bristles 133 are evenly distributed on the surface of the brush plate 124. The water collecting tank 126 is connected to the water inlet pump 127 and the water inlet of the suction cup cleaning tank 123 in sequence through the water supply pipeline, and is connected to the drainage pump 128 and the water outlet of the suction cup cleaning tank 123 in sequence through the return water pipeline to form a water flow loop. After the picking actuator 103 has been performing its picking task for a long time, foreign matter such as mushroom residue, fine particles of culture soil, and other foreign matter may adhere to the surface of the suction cup. To ensure a good subsequent suction effect, the Y-axis movement mechanism 105 and the X-axis movement mechanism 104 cooperate to drive the picking actuator 103 to move above the corresponding suction cup cleaning tank 123. The water inlet pump 127 supplies water to the suction cup cleaning tank, driving the picking actuator 103 to move the suction cup downward a distance, allowing the suction cup to be immersed in the water in the suction cup cleaning tank 123. At this time, the bristles of the brush plate 124 contact the surface of the suction cup. The cleaning motor 125 then operates to drive the brush plate 124 to rotate and clean the suction cup. After cleaning is completed, the picking actuator 103 activates, raising the suction cup, and the drain pump 128 drains water. After the cleaning process is completed, foreign matter adhering to the surface of the suction cup that affects its function is removed.

[0048] like Figure 8 and Figure 9 As shown, the automatic collection device 200 includes a first transport body that moves forward synchronously with the automatic picking robot 100, a material basket delivery device located on the first transport body, a material basket transmission device and a material receiving and feeding device, and a second transport body for receiving the material basket output by the material basket transmission device and directional transfer of the material basket.

[0049] like Figure 16As shown, the first transport vehicle body includes a first guide rail 201 and a first frame 202. The first guide rail 201 is installed on the floor of the factory. The first guide rail 201 is arranged parallel to the length direction of the multi-layer bed frame 300. The bottom of the first frame 202 rolls in cooperation with the first guide rail 201 through the first walking bottom wheel 203, and the first frame 202 is fixed with a first walking motor 204 for driving the first walking bottom wheel 203 to rotate. Specifically, the first walking bottom wheel 203 includes a group of first active walking bottom wheels 20301 and multiple groups of first driven walking bottom wheels 20302. The groups of first walking bottom wheels 203 are connected by a long axis, and the long axis and the first walking motor 204 are connected by a synchronous belt transmission mechanism.

[0050] like Figure 19 and Figure 20 As shown, the basket delivery device includes a front frame 205, a first lifting mechanism 206, a first lifting plate 207, an inner frame 208 and an opposing clamping mechanism. The front frame 205 is fixed on the first frame 202, the first lifting mechanism 206 is fixed in the front frame 205 and is connected to the inner frame 208 via the first lifting plate 207. The first lifting mechanism 206 adopts a slide module, the slide module is provided with a slider, the first lifting plate 207 is fixedly connected to the slider, and the front frame 205 is fixed on the frame away from the slide module. There are a front vertical track 20501 and a rear vertical track 20502, and the outer side of the inner frame 208 is rotatably installed with a front roller 20801 that cooperates with the front vertical track 20501 and a rear roller 20802 that cooperates with the rear vertical track 20502; the first lifting mechanism 206 can also specifically adopt a vertical belt transmission method, and the first lifting plate 207 is fixed on the vertical belt through a connecting piece; the first lifting plate 207 rises or falls, driving the inner frame 208 and the opposite clamping mechanism to rise or fall in the front frame 205.

[0051] The opposing clamping mechanism includes a left clamping plate 209, a right clamping plate 210, an opposing clamping drive motor 211, a driving gear 212, a driven gear 213, an active forward and reverse screw 214 and a driven forward and reverse screw 215. The opposing clamping drive motor 211 is fixed to the first lifting plate 207, and the active forward and reverse screw 214 and the driven forward and reverse screw 215 are rotatably connected to the front and rear sides of the inner frame 208 through the bearing seat. One end of the active forward and reverse screw 214 is fixed with a driving gear 21 connected to the output end of the opposing clamping drive motor 211. 2. A driven gear 213 is fixed to one end of the driven forward and reverse screw 215, and the driven gear 213 and the driving gear 212 are connected through a first toothed belt 216. When the opposing clamping drive motor 211 is working, the driving gear 212, the first toothed belt 216, and the driven gear 213 can drive the active forward and reverse screw 214 and the driven forward and reverse screw 215 to rotate synchronously. It should be noted that the opposing clamping drive motor 211 can also drive the forward and reverse screw 214 and the driven forward and reverse screw 215 to rotate synchronously through other transmission mechanisms. The positive tooth side and the negative tooth side of the active positive and negative thread screw 214 are respectively connected with the first left thread screw nut 217 and the first right thread screw nut 218, and the positive tooth side and the negative tooth side of the driven positive and negative thread screw 215 are respectively connected with the second left thread screw nut 219 and the second right thread screw nut 220. The first left thread screw nut 217 and the second left thread screw nut 219 are connected via the first connecting plate 221. The left clamping plate 209 is fixed on the inner side of the first connecting plate 221. The first right thread screw nut 218 and the second right thread screw nut 220 are connected via the second connecting plate 222. The plate 210 is fixed on the inner side of the second connecting plate 222, and a rectangular area for wrapping the material basket is formed between the left clamping plate 209, the right clamping plate 210 and the front and rear frames of the inner frame 208; the active forward and reverse thread screw 214 / the driven forward and reverse thread screw 215 can be made of two screws with opposite thread directions connected by a coupling 223, or a one-piece bidirectional screw can be directly selected; the operation of the opposite clamping drive motor 211 can make the left clamping plate 209 and the right clamping plate 210 move closer to each other or separate from each other, and realize the clamping function of the material basket when they move closer to each other. The material basket delivery device can adapt to material baskets of different sizes, and the adaptability of the material basket delivery device is enhanced. In addition, the process of placing new stacked material baskets into the material basket delivery device is convenient and fast.

[0052] like Figure 10-13As shown, the material receiving and feeding device includes a main frame 224, a first-layer inclined plate 225, a belt frame 226, a mushroom holding box 227, a root collecting hopper 228 and an upper-layer inclined plate 229. The main frame 224 is fixed to one side of the front frame 205 and the main frame 224 is divided into a first material collecting area 22401 and a second material collecting area 22402 along the length direction. The first-layer inclined plate 225 is installed on the inner side of the main frame 224 and tilted toward the first layer of the multi-layer bed frame 300. The first-layer inclined plate 225 is divided into a first channel 22501 corresponding to the first material collecting area 22401 and a second material collecting area 22402 through the first-layer partition. The second channel 22502 corresponding to 22402, the belt frame 226 is fixed on the main frame 224 through the connecting frame, the lower end of the belt frame 226 extends to the first material receiving area 22401 and is rotatably connected to the main pulley 230, the upper end of the belt frame 226 extends to a position higher than the uppermost layer of the multi-layer bed frame 300 and is rotatably connected to the slave pulley 231, and a flow motor 232 for driving the main pulley 230 to rotate is fixed on the main frame 224, the main pulley 230 and the slave pulley 231 are connected through a flow timing belt 233, the mushroom accommodating box is provided with an opening, and there are multiple mushroom accommodating boxes 227, which are connected circumferentially. The connecting piece is fixed on the circulation synchronous belt 233, and the mushroom holding box 227 is turned over with the movement of the circulation synchronous belt 233 from the opening set upward on the far side of the belt bracket to the opening set downward on the near side of the belt bracket. There are multiple root collecting hoppers 228, which are fixed on the far side of the belt frame 226 vertically through transverse rods. The bottom of the root collecting hopper 228 is connected to a discharge pipe 234 set toward the second collecting area 22402. Each discharge pipe 234 is concentrically arranged in the vertical direction. The upper slope plate 229 is installed on the inner side of the root collecting hopper 228 and tilted toward the non-first layer of the corresponding multi-layer bed frame 300. Each upper slope plate 229 is inclined It is divided into a main channel 22901 corresponding to the opening of the mushroom holding box 227 and a slave channel 22902 corresponding to the opening of the root collecting hopper 228 through the upper partition. When the automatic picking robot 100 completely enters the first layer of the multi-layer bed frame 300, the automatic collecting device 200 is located at the initial position of the first track, and the discharge port 10603 of the automatic picking robot 100 corresponds to the channel entrance of the first-layer slope plate 225. Similarly, when the automatic picking robot 100 is located on other layers of the multi-layer bed frame 300, the discharge port 10603 of the automatic picking robot 100 corresponds to the channel entrance of the upper slope plate 229.

[0053] Each mushroom container 227 is evenly spaced on the circulation synchronous belt 233. The distance between the openings of adjacent mushroom containers 227 is the same as the distance between the openings of adjacent root collection hoppers 228. After the circulation motor 232 drives the circulation synchronous belt 233 to run the above distance, the next mushroom container 227 arrives at the same position as the previous mushroom container. At this time, the mushroom containers 227 and root collection hoppers 228 corresponding to each layer still maintain a one-to-one correspondence, ensuring the smooth progress of layer-changing picking. Figure 13 As shown, an origin sensing sensor 284 is installed on the connecting frame. When the mushroom holding box 227 reaches the sensing position of the origin sensing sensor 284, there is a mushroom holding box 227 at the lower end of the circulation synchronous belt 233 that is flipped and opened downward. The origin sensing sensor 284 sends a sensing signal, and the controller receives the sensing signal and controls the circulation motor 232 to stop for a few seconds. The mushrooms in the mushroom holding box 227 fall steadily into the material basket in the first material receiving area 22401.

[0054] In order to realize the synchronous advancement of the first transport vehicle body and the automatic picking robot, the moving speed of the first walking bottom wheel 203 is controlled to be the same as the moving speed of the walking mechanism 102 of the automatic picking robot 100, and the two move forward and stop synchronously. Figure 14 As shown, the upper end of the belt frame 226 is equipped with a walking top wheel 235 for cooperating with the multi-layer bed frame 300. The walking top wheel 235 is a passive rolling. Specifically, in order to facilitate the cooperation between the walking top wheel 235 and the multi-layer bed frame 300, a third lifting mechanism 23501 is provided between the walking top wheel 235 and the belt frame 226. The third lifting mechanism 23501 can adopt a slide module structure. The walking top wheel 235 is connected to the slider of the third lifting mechanism 23501 through the lifting frame 23502. The first walking bottom wheel 203 at the bottom of the first frame 202 is set on the first guide rail 201. The third lifting mechanism 23501 The top walking wheel 235 is driven to move downward and roll in contact with the upper surface of the multi-layer bed frame 300. In order to increase the tightness between the top walking wheel 235 and the multi-layer bed frame 300, two vertical sliding shafts 23503 arranged side by side are installed at the front end of the lifting frame 23502. A sliding block 23504 is installed on the vertical sliding shaft 23503. Spring parts 23505 are sleeved on the vertical sliding shaft 23503 between the upper surface of the sliding block 23504 and the lifting frame 23502, and on the vertical sliding shaft 23503 between the lower surface of the sliding block 23504 and the lifting frame 23502. The top walking wheel 235 is connected to the sliding block 23504 via the wheel axle.

[0055] like Figure 7As shown, the material port opening assembly is provided at the material port 10603 of the automatic picking robot 100, and the material port opening assembly includes a door frame 129, a door baffle 130, a door shaft 131 and a door shaft rotation motor 132. The door frame 129 is fixed to the outside of the material port 10603 of the base 101, and the door shaft 131 is fixed to the lower end of the door baffle 130. Both ends of the door shaft 131 are rotatably connected to the door frame 129. The door shaft rotation motor 132 is fixed to the door frame 129. The output shaft of 2 is connected to one end of the door shaft 131 through a synchronous belt transmission mechanism. After the automatic picking robot 100 enters the multi-layer bed frame 300 for a distance, the door plate 130 is completely located in the multi-layer bed frame 300, and the door shaft rotation motor 132 drives the door plate 130 to rotate a certain angle. As the automatic picking robot 100 continues to move forward, the door plate 130 reaches the bottom of the first-layer ramp plate 225 / upper-layer ramp plate 229, thereby The transition connection is formed between the channels of 225 / upper ramp plate 229 to avoid the occurrence of material jamming and leakage; the connection between the door plate 130 and the first ramp plate 225 / upper ramp plate 229 can also be achieved by installing a door shaft rotation motor 132 on the first ramp plate 225 / upper ramp plate 229, that is, the first ramp plate 225 and the main frame 224, and the upper ramp plate 229 and the root system collecting hopper 228 are designed to be hinged. A rotating motor is installed on the outside of the frame 224 and the root collecting hopper 228 to drive the first-layer ramp plate 225 / upper-layer ramp plate 229 to rotate. In the initial state, the first-layer ramp plate 225 / upper-layer ramp plate 229 are set vertically. When the automatic picking robot 100 completely enters the multi-layer bed frame 300, the door shaft rotating motor 132 drives the door plate 130 to rotate a certain angle, and the rotating motor drives the corresponding ramp plate to rotate a certain angle so that the ramp plate is located above the door plate 130.

[0056] like Figure 17 and Figure 18As shown, a busbar 236 is arranged on the outside of the first guide rail 201, and a carbon brush 237 and a first displacement component that drives the carbon brush 237 to electrically contact the busbar 236 are connected to the first frame. Specifically, the first displacement component includes a second lifting mechanism 238, a second lifting plate 239, a first translation mechanism 240 and a translation plate 241. The second lifting mechanism 238 is fixed on the side of the first frame 202 close to the busbar 236, the first translation mechanism 240 is connected to the second lifting mechanism 238 via the second lifting plate 239, and the upper end of the translation plate 241 is connected to the first translation mechanism 240. The lower end of the translation plate 241 is connected to the carbon brush 237 through the pin 242 and the spring 285. The two pins 242 pass through the lower end of the translation plate 241 respectively. The two pins 242 can slide. The front ends of the two pins 242 are respectively connected to the carbon brush 237. There are two springs 285. The first spring 285 is sleeved on the first pin 242. The front end of the first spring 285 rests on the carbon brush 237, and the rear end of the first spring 285 rests on the lower end of the translation plate 241. Similarly, the second spring is sleeved on the second pin, the front end of the second spring rests on the carbon brush 237, and the rear end of the second spring rests on the lower end of the translation plate 241. The second lifting mechanism 238 and the first translation mechanism 240 adopt the structure of a slide module. The second lifting plate 239 is connected to the slider of the second lifting mechanism 238, and the translation plate 241 is connected to the slider of the first translation mechanism 240. The second lifting mechanism 238 and the first translation mechanism 240 move successively, causing the carbon brush 237 to first descend and then move backward until it is in close contact with the sliding contact line 236 with the cooperation of the pin 242 and the spring, and the carbon brush 237 is energized.

[0057] like Figure 14 and Figure 15As shown, the side of the belt frame 226 facing the multi-layer bed frame 300 is provided with a plurality of conductive contacts 243 electrically connected to the carbon brushes 237 and a second displacement component for driving each conductive contact 243 to electrically cooperate with the power input port on the base 101 of the automatic picking robot 100. The number of the second displacement components is the same as the number of layers of the multi-layer bed frame 300, and the installation position of each second displacement component corresponds to the position of the automatic picking robot 100 in the multi-layer bed frame 300. The second displacement component includes a conductive contact 243 electrically connected to the carbon brush 237 and a second displacement component for driving each conductive contact 243 to electrically cooperate with the power input port on the base 101 of the automatic picking robot 100. The conductive contact connecting bracket 245, the electric push rod 246, the hinge joint 247 and the swing arm 248, the conductive contact connecting bracket 245 is horizontally fixed on the belt frame 226, the lower end of the swing arm 248 has a hinge portion 24801 hinged to the front end of the conductive contact connecting bracket 245, and the hinge portion 24801 is provided with an arc groove 24802 bent toward the multi-layer bed frame 300. The conductive contact 243 is fixed to the upper end of the swing arm 248 via the charging base 244. The electric push rod 246 is installed on the conductive In the contact connection bracket 245, the output shaft of the electric push rod 246 is connected to the rear end of the hinge joint 247. The outer side of the hinge joint 247 is matched with the guide groove 24501 provided on the conductive contact connection bracket 245 through the horizontal slider 24701. The front end of the hinge joint 247 is matched with the arc groove 24802 through the hinge shaft 24702. In the initial state, the output shaft of the electric push rod 246 is in the extension mode, the hinge shaft 24702 is located at the lower end of the arc groove 24802, and the swing arm 248 is in the vertical state. When the automatic robot completely enters the multi-layer frame, the electric push rod 246 contracts, driving the swing arm 248 to change from a vertical setting to a horizontal setting. At this time, the conductive contact 243 contacts the power input port on the base 101 of the automatic picking robot 100, completing the power supply of the automatic picking robot 100 by the external power supply, and continuously powers the picking robot during the synchronous movement of the first frame 202 and the automatic picking robot 100, so as to reduce the power load of the battery of the automatic picking robot 100.

[0058] The material basket transmission device includes a transverse transmission component and a vertical reversing transmission component. The proximal end of the transverse transmission component is connected to the front frame 205, and the distal end of the transverse transmission component extends to the main frame 224 below the second material receiving area 22402. The vertical reversing component is located in the main frame 224 and is arranged corresponding to one side of the second transport body.

[0059] like Figure 12 、 Figure 13 and Figure 19As shown, the lateral transmission assembly includes a roller drive motor 255, a driven roller 257, an active step pulley 256, a slave synchronous pulley 258 and a positioning clamping assembly; there are multiple driven rollers 257, which are installed on the side panels at the bottom of the front frame 205 and the main frame 224 via bearings and rotate in sequence along the length direction, and the slave synchronous pulley 258 is fixed to one end of the driven roller 257. There are two roller drive motors, which are respectively fixed in the front frame 205 and the main frame 224. The output end of each roller drive motor 255 is connected to the active step pulley 256, and the first active step pulley 256 is connected to the slave synchronous pulley 258 and the tensioning pulley 259 on the corresponding main frame 224 via a second toothed belt 260. The second active step pulley 256 is connected to the slave synchronous pulley and the tensioning pulley on the corresponding front frame 205 via a second toothed belt. In order to ensure the tensioning state of the second toothed belt 260, a tensioning pulley 259 is rotatably connected to the side plate between the adjacent slave synchronous pulleys 258. The tensioning pulley 259 is connected to the second toothed belt 260 together with the active step pulley 256 and the slave synchronous pulley 258. The positioning clamping assembly is located below the left clamping plate 209 and the right clamping plate 210. The positioning clamping assembly includes a positioning clamping drive motor 261, a bidirectional screw 262, a guide light shaft 263, a front clamping plate 264 and a rear clamping plate 265. The two ends of the bidirectional screw 262 are rotatably mounted on the side plates below a row of driven rollers 257. The positioning clamping drive motor 261 is fixed to the bottom of the front frame 205. The output shaft of the positioning clamping drive motor 261 is connected to the middle of the bidirectional screw 262 through a synchronous belt transmission mechanism. There are two guide light shafts 263, which are symmetrically mounted on the bidirectional screw 2 On both sides of the basket 262, the upper portion of the front clamping plate 264 and the upper portion of the rear clamping plate 265 pass through the gap between the adjacent driven rollers 257 to form a clamping portion. A probe 266 for inserting into the perforated hole on the surface of the basket is installed on the clamping portion (the upper portion of the front clamping plate 264 is connected to the probe 266, and the upper portion of the rear clamping plate 265 is connected to the probe 266). The bottom of the front clamping plate 264 is connected to the front nut seat 267, which cooperates with the positive thread of the bidirectional screw 262. The bottom of the front clamping plate 264 is connected to the front slider 268 that slides in cooperation with the guide light shaft 263. The bottom of the rear clamping plate 265 is connected to the rear nut seat 269, which cooperates with the negative thread of the bidirectional screw 262. The bottom of the rear clamping plate 265 is connected to the rear sliders 270 that slide in cooperation with the guide light shaft 263 on both sides.When the positioning and clamping drive motor 261 is working, it drives the front clamping plate 264 and the rear clamping plate 265 to move closer to or away from each other. When the two roller drive motors 255 rotate forward, they drive the two rows of driven rollers 257 to rotate clockwise respectively. The material baskets located in the front frame 205 and pressed on a row of driven rollers 257 are transported one by one to the first material receiving area 22401 and the second material receiving area 22402 of the main frame 224. When the two roller drive motors 255 reverse, the material baskets entering the first material receiving area 22401 or the second material receiving area 22402 are transported to the front frame 205.

[0060] The vertical reversing transmission assembly includes two sets of steering transmission units, which are respectively located below the driven rollers 257 corresponding to the first material receiving area 22401 and the second material receiving area 22402. Figure 23 As shown, each steering transmission unit includes a load-bearing frame 271, a lifting drive motor 272, a lifting screw 273, a lifting nut 274, a weighing plate 275, a weighing sensor 276, a pressure plate 277, a synchronous drive motor 278, a transmission plate 279, a left conveyor belt transmission mechanism 280 and a right conveyor belt transmission mechanism 281. The load-bearing frame 271 is fixed to the bottom of the main frame 224. There are two lifting screws 273, which are arranged vertically side by side and are rotatably mounted on the load-bearing frame 271 through a bearing bracket (the bearing bracket is a bracket with a bearing installed, the upper end of the lifting screw 273 is connected to the bearing, and the lower end of the lifting screw 273 is connected to the bearing). The lifting drive motor 272 is connected to the lower end of each lifting screw 273 through a synchronous belt transmission mechanism. Both ends of the weighing plate 275 are connected to the jacking screw 273 through the lifting nut 274. The sensor 276 is connected to the top of the weighing plate 275, the pressure plate 277 is connected to the weighing sensor 276, the two ends of the pressure plate 277 extend outward and are connected to the two transmission plates 279, the left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 are respectively installed on the two transmission plates 279, and the synchronous drive motor 278 is fixed to the outside of any transmission plate 279 and is connected to the driving pulleys of the left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 through a connecting shaft. The left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 have the same structure, both of which are composed of a driving pulley rotatably mounted on the transmission plate 279, two driven pulleys, two tensioning pulleys and a synchronous conveyor belt connected to the driving pulley, the driven pulley and the tensioning pulley. The driving pulley and the two driven pulleys are arranged in an inverted triangle, and the tensioning pulley is located between the driving pulley and the driven pulley. The lifting drive motor 272 is activated, driving the transmission plate 279 and the conveyor belt transmission mechanism on the transmission plate 279 to move in and out of the gap between adjacent driven rollers 257, thereby lifting the material basket transmitted from the front frame 205, and the weighing sensor 276 senses the weight of the lifted material basket, weighs the mushrooms / mushroom roots collected in the material basket, and realizes quantitative collection.

[0061] like Figure 16As shown, the second transport vehicle body includes a second guide rail 249, a second frame 250, a first conveyor belt mechanism 251, a second conveyor belt mechanism 252 and a second travel motor 253. The second guide rail 249 is arranged parallel to the length direction of the multi-layer bed frame 300. The bottom of the second frame 250 rolls in cooperation with the second guide rail 249 via the second travel bottom wheel 254, and the second travel motor 253 for driving the second travel bottom wheel 254 to rotate is fixed on the second frame 250. The driving structure of the second travel bottom wheel 254 is the same as that of the first transport vehicle body, which is not repeated here. The first conveyor belt mechanism 251 and the second conveyor belt mechanism 252 are installed side by side on the surface of the second frame 250, corresponding to the first material receiving area 22401 and the second material receiving area 22402 respectively. The outside of the first conveyor belt mechanism 251 and the second conveyor belt mechanism 252 A side baffle 282 is fixed on the second frame to isolate the conveying areas of the two conveyor belt mechanisms; a first light sending and receiving module is installed on the first frame 202, and a second light sending and receiving module 283 is installed on the second body. The second light sending and receiving module 283 cooperates with the first light sending and receiving module to sense and complete the position docking of the second frame 250 and the first frame 202. At this time, the first conveyor belt mechanism 251 / the second conveyor belt mechanism 252 receives the material basket transmitted by the left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 in each corresponding area, and under the forward drive of the second walking motor 253, the second frame 250 is transported along the second track to the collection station, and then the second walking motor 253 drives in reverse to bring the second frame 250 back to the position corresponding to the first frame 202.

[0062] like Figure 21 and Figure 22As shown, a material basket centering assembly is provided in the front frame 205, and the material basket centering assembly includes a second translation mechanism 1, a side push plate 2, a front and rear clamping drive motor 3, a clamping screw 4, a clamping optical axis 5, a front baffle 6 and a rear baffle 7. The second translation mechanism 1 is fixed in the front frame 205, and the side push plate 2 is connected to the second translation mechanism 1 and is arranged toward the proximal end of the lateral transmission assembly. Similarly, the second translation mechanism 1 adopts a slide module structure in this solution, and the side push plate 2 is fixed on the slider of the second translation mechanism 1. The two ends of the clamping screw 4 rotate The front and rear clamping drive motors 3 are fixed to the bottom of the front frame 205 and are connected to the middle of the clamping screw 4 through a synchronous belt transmission mechanism. There are two clamping optical axes 5, which are symmetrically installed on both sides of the clamping screw 4. The upper part of the front baffle 6 and the upper part of the rear baffle 7 pass through the gap between the adjacent driven rollers 257 to form a centering part. The length of the centering part extending out of the driven roller 257 is at least higher than the height of a single material basket. The bottom of the front baffle 6 is matched with the orthogonal thread of the clamping screw 4 through the first nut seat 8 and the front baffle is fixed to the bottom of the front frame 205 and is connected to the middle of the clamping screw 4 through a synchronous belt transmission mechanism. The bottom of the plate 6 has a first slider 10 on both sides that slides with the clamping optical axis 5, the bottom of the rear baffle 7 is matched with the anti-thread of the clamping screw 4 through the second nut seat 9, and the bottom of the rear baffle 7 has a second slider 11 on both sides that slides with the clamping optical axis 5. In this solution, there is one basket centering component in the main frame 224 and two positioning clamping components. The basket centering component is located at the center of the area between the left clamping plate 209 and the right clamping plate 210. The two positioning clamping components are symmetrically distributed on both sides of the basket centering component. The conveying belt mechanism 251 / the second conveying belt mechanism 252 transmits the stacked material basket group 400 into the main frame 224, and is transported to the front frame 205 under the reverse drive of the roller drive motor 255. The second translation mechanism 1 drives the side push plate 2 to move to the right, and the front and rear clamping drive motors 3 drive the front baffle 6 and the rear baffle 7 to approach each other, so that the material basket is located directly below the rectangular area formed by the left clamping plate 209, the right clamping plate 210 and the front and rear frames of the inner frame 208, for use by the subsequent material basket delivery device.

[0063] When the basket delivery device is empty (i.e., there is no stacked basket in the front frame 205), the pre-prepared stacked basket is first delivered to the main frame 224 via the first conveyor belt mechanism 251 or the second conveyor belt mechanism 252, and then the stacked basket is delivered to the front frame 205. In order to push the stacked basket group entering the main frame 224 away from the side of the main frame 224 and prevent the stacked basket group from interfering with the parts in the front frame 205 due to being too close to the frame side plate when entering the front frame 205, such as interfering with the probe 266 on the clamping part of the front clamping plate 264 and the rear clamping plate 265, Figure 12 and Figure 24As shown, a push basket assembly is provided in the main frame 224, and the push basket assembly includes a forward push drive motor 12, a fixed plate 13, an active rocker arm 14, a driven rocker arm 15 and a forward push plate 16. The fixed plate 13 is fixed to the inner side of the main frame 224, and the active rotating shaft 17 and the third driven rotating shaft 20 are installed in parallel on the outer side of the fixed plate 13 through two rear bearing seats, and the second driven rotating shaft 19 and the first driven rotating shaft 18 are installed in parallel on the inner side of the front push plate 16 through two front bearing seats (the two front bearing seats are fixedly connected to the inner side of the front push plate 16), and one end of the active rocker arm 14 is connected to the main The driving shaft 17 is fixedly connected, the other end of the active rocker arm 14 is fixedly connected to the first driven shaft 18, one end of the driven rocker arm 15 is fixedly connected to the third driven shaft 20, and the other end of the driven rocker arm 15 is fixedly connected to the second driven shaft 19. The front push plate 16, the fixed plate 13, the active rocker arm 14 and the driven rocker arm 15 constitute a parallel four-bar linkage mechanism. The front push drive motor 12 is fixed on the fixed plate 13 and the output shaft of the front push drive motor 12 is connected to the active shaft 17. When the front push drive motor 12 is activated, it drives the front push plate 16 to move forward and backward. It should be noted that as long as the other end of the active rocker arm 14 is rotationally connected to the inner side of the front push plate 16, the other end of the driven rocker arm 15 is rotationally connected to the inner side of the front push plate 16, and one end of the driven rocker arm 15 is rotationally connected to the outer side of the fixed plate 13, it does not matter what specific rotation connection method is used.

[0064] The front push plate 16 is moved forward a certain distance to push the stacking basket to a certain position, thereby preventing the stacking basket from interfering with the probes 266 on the front clamping plate 264 and the rear clamping plate 265 when entering the front frame 205; or the front push plate 16 is moved forward to a specified position in advance, and the stacking basket is transported to the main frame 224 by the first conveyor belt mechanism 251, where it is blocked and limited by the front push plate 16, thereby preventing the stacking basket from interfering with other parts when entering the front frame 205. In addition, the provision of a push basket assembly allows the material receiving and feeding device to adapt to material baskets of different sizes, thereby improving the adaptability of the material receiving and feeding device.

[0065] In order to further improve the automation level of the intelligent picking system, and to uniformly store and maintain the automatic picking robot 100, and to improve the complex design of the prior art in which each multi-layer bed frame 300 needs to be equipped with an automatic layer-changing device, the activity space in the mushroom room is liberated, such as Figure 1As shown, the system also includes a robot storage rack 301, a robot transfer rack 302, and a transfer forklift 500 for lifting the robot transfer rack 302. The robot storage rack 301 and the robot transfer rack 302 are provided with a slide 303 that cooperates with the walking mechanism 102 of the automatic picking robot 100. The transfer forklift 500 travels back and forth between the robot storage rack 301 and the multi-layer bed frame 300 where mushroom picking is required. The automatic picking robot 100 completes the transfer mode from the robot storage rack 301-robot transfer rack 302-multi-layer bed frame 300. The transfer forklift 500 raises and lowers the forklift plate on the outside of the multi-layer bed frame 300 to complete the layer changing operation of the automatic picking robot 100 on each multi-layer bed frame 300.

[0066] Typically, the robot transfer frame 302 is fixedly mounted on the lifting portion of the transfer forklift 500. Figure 25 As shown, in order to ensure the stability of the automatic robot during the transfer process of the transfer forklift 500, an electric push rod 304 is installed in the robot transfer frame 302, and the output end of the electric push rod 304 is fixed with a top pressure block 305 set toward the inside of the track. The automatic picking robot 100 completely enters the robot transfer frame 302, and the electric push rod 304 moves, driving the top pressure block 305 to extend, thereby pressing the inner side of the rotating roller of the walking mechanism 102 in the automatic picking robot 100 onto the slide 303 of the robot transfer frame.

[0067] In order to make the walking mechanism 102 of the automatic picking robot 100 move more easily and stably on the tracks of the robot storage rack 301, the robot transfer rack 302 and the multi-layer bed frame 300, as shown in FIG. Figure 26 As shown, a track docking assembly is provided at the exit side of the robot transport frame 302, and the track docking assembly includes an auxiliary track 306, a rotating motor 307, a first crank 308, a second crank 309 and a ball joint 310. The auxiliary track 306 is hinged to the front end of the slideway 303, and a slide groove 30601 that matches the ball joint 310 is provided in the auxiliary track 306. The end of the ball joint 310 is hinged to the second crank 309 and the first crank 308 in sequence. The rotating motor 307 is fixed on the robot transport frame 302. The output shaft of the rotating motor 307 is connected to the first crank 308. The rotating motor 307 is activated, driving the auxiliary rail 306 to switch between a vertical state and a horizontal state. When the auxiliary rail 306 is in the horizontal state, it is used to connect the rails of the robot transfer rack 302 and the robot storage rack 301, and the rails of the robot transfer rack 302 and the multi-layer bed frame 300. When the auxiliary rail 306 is in the vertical state, it does not affect the automatic picking robot 100's layer-changing operation on the multi-layer bed frame 300 by means of the transfer forklift 500. It should be noted that the position angle of the auxiliary rail 306 is not limited to the above-mentioned 90°, and can also be adjusted between greater than 0° and less than 90° according to actual needs.

[0068] Since two slideways 303 arranged side by side are provided, two sets of track docking assemblies are provided.

[0069] The main working process of the mushroom harvesting robot system of the present invention is described below:

[0070] The external power source energizes the busbar 236 .

[0071] The robot transfer frame 302 is transported to the side of the robot storage frame 301 by the transfer forklift 500, the rotating motor 307 drives the auxiliary rail 306 to rotate to the horizontal, the auxiliary rail 306 docks with the rail in the robot storage frame 301, and the automatic picking robot 100 moves into the robot transfer frame 302, the electric push rod 304 extends, and the top pressure block 305 presses the action mechanism of the automatic picking robot 100. Under the control of the external controller, the transfer forklift 500 runs to the outside of the first layer of the multi-layer bed frame 300 where mushrooms need to be picked, the auxiliary rail 306 docks with the slide 300-1 in the multi-layer bed frame 300, the electric push rod 304 contracts, and the automatic picking robot 100 moves into the multi-layer bed frame 300.

[0072] After the automatic picking robot 100 completely enters the multi-layer bed frame 300, the first displacement component drives the carbon brush 237 to contact the sliding contact line 236, and the external power supply supplies power to the material basket delivery device, the material basket transmission device and the material receiving and feeding device. The second displacement component corresponding to the first layer drives the conductive contact 243 to contact the power input port of the automatic picking robot 100, and the external power supply supplies power to the automatic picking robot 100. The first frame 202 and the automatic picking robot 100 move forward / stop synchronously.

[0073] The automatic picking robot 100 stays at a certain position for a period of time, and the picking actuator 103 performs the picking operation. The picking actuator 103 of the automatic picking robot 100 moves the picked mushrooms to the top of the second conveying part 11002 of the mushrooms, and the forward driving motor 113 drives the electric finger gripper 116 to move forward. The electric finger gripper 116 moves, and the scissor blade 117 completes the cutting of the mushroom roots. The picking actuator 103 then moves the mushrooms (caps) without the mushroom roots to the top of the first conveying part 11001, and then the suction cup of the picking actuator 103 releases the mushrooms. The first conveying part 11001 and the second conveying part 11002 of the conveyor belt 110 respectively transfer the mushrooms and mushroom roots to the discharge port 10603. At the same time, the left clamping plate 209 and the right clamping plate 209 are used to hold the mushrooms. The stacked material basket group 400 clamped by the plate 210 is moved down to a row of driven rollers 257 of the front frame 205 under the drive of the first lifting mechanism 206, and the positioning clamping drive motor 261 drives the front clamping plate 264 and the rear clamping plate 265 to approach until the clamping of the bottom material basket (the penultimate material basket) in the stacked material basket group 400 is completed. Next, the left clamping plate 209 and the right clamping plate 210 clamp the remaining material baskets again and move upward. The penultimate material basket remains on a row of driven rollers 257. Next, driven by the rotating roller drive motor, the penultimate material basket located on the driven roller 257 moves to the second material receiving area 22402 as the front material basket. Repeat the above-mentioned material basket placing operation and move the next material basket (the second to last material basket of the stacked material basket group 400) to the first material receiving area 22401 as the rear material basket. The lifting cylinder in the corresponding material receiving area lifts up the left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 to support the above-mentioned corresponding rear material basket and front material basket. The mushrooms transported from the discharge port 10603 to the first-floor inclined plate 225 fall into the rear material basket through the first channel 22501, and the mushroom roots fall into the front material basket through the second channel 22502. The weighing sensor 276 detects that the collected weight meets the specified requirements, and the synchronous drive motor 278 drives the material basket to be transported to the corresponding first conveyor belt mechanism 251 and the second conveyor belt mechanism 252. Then the second frame 250 moves to the work station at the end of the second track, and the worker receives the fully loaded material basket transported by the conveyor belt mechanism. Finally, the second frame 250 returns to the side of the first frame 202 body to continue the next round of material collection.

[0074] When performing the layer-changing operation, the first transport vehicle body returns to its initial position, the automatic picking robot 100 moves into the robot transfer frame 302, the rotating motor 307 drives the auxiliary rail 306 to rotate to vertical, the transfer forklift 500 lifts the robot transfer frame 302 to align with the second layer of the multi-layer bed frame 300, the rotating motor 307 drives the auxiliary rail 306 to rotate to horizontal, the automatic picking robot 100 enters the multi-layer support to pick, and the mushrooms are transported from the discharge port 10603 to the upper ramp plate 229. The mushrooms fall into the mushroom holding box 227 through the main channel 22901, and the mushroom roots fall into the root collecting hopper 228 through the channel 22902. The mushroom roots in the root collecting hopper 228 fall into the front material basket through the discharge pipe 234. After collecting for a period of time, the mushroom holding box 227 moves downward with the flow synchronous belt 233. The mushroom holding box 227 located above reaches the second-level position to continue collecting. The mushroom holding box 227 full of mushrooms moves to the lower end of the flow synchronous belt 233 and turns over, and the mushrooms are dumped into the rear material basket.

[0075] When the material baskets in the front frame 205 are used up, the second frame 250 moves to the workstation at the end of the second track, and the worker places the new stacked material basket group on the first conveyor belt mechanism 251. The second frame 250 returns to the side of the first frame 202, and the first conveyor belt mechanism 251 transmits the new stacked material basket group along the left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 in the first material receiving area 22401 to the top of a row of driven rollers 257 in the main frame 224, and then the left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 are used up. The mechanism 281 descends, and the new stacked material basket group is pressed on a row of driven rollers 257 in the main frame 224. Then the row of driven rollers 257 in the main frame 224 rotates to move the new stacked material basket group into the front frame 205. The new stacked material basket group is pressed on a row of driven rollers 257 in the front frame 205. Under the joint action of the side push plate 2, the front baffle 6, and the rear baffle 7, the new stacked material basket group is centered below the left clamping plate 209 and the right clamping plate 210, and the subsequent material basket delivery operation is continued.

[0076] It can be seen that the entire process does not require manual replacement of the material baskets one by one, and the automated operation of the material basket placement is realized. Its automation level is higher than that of the existing technology, the operating efficiency is further improved, and mushrooms and mushroom roots can be collected synchronously to meet higher intelligent operation requirements.

Claims

1. A mushroom harvesting robot system, characterized in that: It includes a robot transfer frame, a transfer forklift for lifting the robot transfer frame, an automatic picking robot and an automatic collection device, the automatic collection device includes a first transport body that moves forward synchronously with the automatic picking robot, a material basket delivery device located on the first transport body, a material basket transmission device and a material receiving and feeding device, and a second transport body for receiving the material basket output by the material basket transmission device and directional transfer of the material basket, the material basket delivery device includes a front frame, a first lifting mechanism, a first lifting plate, an inner frame and an opposing clamping mechanism, the front frame is fixed on the first transport body, the first lifting mechanism is fixed inside the front frame The hopper is connected to the inner frame via a first lifting plate, the opposing clamping mechanism is fixed on the inner frame and has a left clamping plate and a right clamping plate for clamping the material basket after opposing movements, the material receiving and feeding device comprises a main frame, a first-layer inclined plate, a belt frame, a mushroom holding box, a root collecting hopper and an upper-layer inclined plate, the main frame is fixed to one side of the front frame and the main frame is divided into a first material collecting area and a second material collecting area along the length direction, the first-layer inclined plate is installed on the inner side of the main frame and is inclined toward the first layer of the multi-layer bed frame, and the first-layer inclined plate is provided with a first channel corresponding to the first material collecting area and a second channel corresponding to the second material collecting area The transmission mechanism that this transmission mechanism is used for the transmission mechanism is that this transmission mechanism is used for the transmission mechanism, and this transmission mechanism is used for the transmission mechanism. On the far side of the belt frame, the bottom of the root collecting hopper is connected to a discharge pipe arranged toward the second collecting area, and the upper slope plate is installed on the inner side of the root collecting hopper and inclined toward the non-first layer of the corresponding multi-layer bed frame. Each upper slope plate is provided with a main channel corresponding to the opening of the mushroom holding box and a slave channel corresponding to the opening of the root collecting hopper. The material basket transmission device includes a transverse transmission component and a vertical reversing transmission component. The proximal end of the transverse transmission component is connected to the front frame, and the distal end of the transverse transmission component extends to the main frame below the second collecting area. The vertical reversing component is located in the main frame and is arranged corresponding to one side of the second transport body.

2. The mushroom harvesting robot system according to claim 1, characterized in that: The second transport vehicle body includes a second guide rail, a second frame, a first conveyor belt mechanism, a second conveyor belt mechanism and a second traveling motor. The second guide rail is arranged parallel to the length direction of the multi-layer bed frame. The bottom of the second frame rolls in cooperation with the second guide rail via the second traveling bottom wheel, and a second traveling motor for driving the second traveling bottom wheel to rotate is fixed on the second frame. The first conveyor belt mechanism and the second conveyor belt mechanism are installed side by side on the surface of the second frame, corresponding to the first material receiving area and the second material receiving area respectively.

3. The mushroom harvesting robot system according to claim 1 or 2, characterized in that: The first transport vehicle body includes a first guide rail and a first frame. The first guide rail is arranged parallel to the length direction of the multi-layer bed frame. The bottom of the first frame rolls in cooperation with the first guide rail through the first walking bottom wheel, and a first walking motor for driving the first walking bottom wheel to rotate is fixed on the first frame. A bus bar is arranged on the outer side of the first guide rail. The first frame is provided with a carbon brush and a first displacement component that drives the carbon brush to electrically contact the bus bar. The side of the belt frame facing the multi-layer bed frame is provided with a plurality of conductive contacts electrically connected to the carbon brushes and a second displacement component that drives each conductive contact to electrically cooperate with the power input port on the base of the automatic picking robot.

4. The mushroom harvesting robot system according to claim 3, characterized in that: The second displacement assembly includes a conductive contact connecting bracket, an electric push rod, a hinge joint and a swing arm. The conductive contact connecting bracket is horizontally fixed to the belt frame. The lower end of the swing arm has a hinge portion hinged to the front end of the conductive contact connecting bracket. An arc groove is provided on the hinge portion. The conductive contact is fixed to the upper end of the swing arm via a charging base. The electric push rod is installed in the conductive contact connecting bracket. The output shaft of the electric push rod is connected to the rear end of the hinge joint. The outer side of the hinge joint cooperates with the guide groove provided on the conductive contact connecting bracket via a horizontal slider. The front end of the hinge joint cooperates with the arc groove via a hinge shaft.

5. The mushroom harvesting robot system according to claim 1, characterized in that: The opposing clamping mechanism includes an opposing clamping drive motor, a driving gear, a driven gear, an active forward and reverse screw and a driven forward and reverse screw. The opposing clamping drive motor is fixed on the first lifting plate, and the active forward and reverse screw and the driven forward and reverse screw are rotatably connected to both sides of the inner frame through a bearing seat. One end of the active forward and reverse screw is fixed with a driving gear connected to the output end of the opposing clamping drive motor, and one end of the driven forward and reverse screw is fixed with a driven gear, and the driven gear and the driving gear are connected via a first gear The positive side and the negative side of the active positive and negative threaded screw are respectively connected with the first left threaded screw nut and the first right threaded screw nut, and the positive side and the negative side of the driven positive and negative threaded screw are respectively connected with the second left threaded screw nut and the second right threaded screw nut, the first left threaded screw nut and the second left threaded screw nut are connected via a first connecting plate, the left clamping plate is fixed on the inner side of the first connecting plate, the first right threaded screw nut and the second right threaded screw nut are connected via a second connecting plate, and the right clamping plate is fixed on the inner side of the second connecting plate.

6. The mushroom harvesting robot system according to claim 1, characterized in that: The lateral transmission assembly includes a roller drive motor, a driven roller, an active step pulley, a slave synchronous pulley and a positioning clamping assembly. There are multiple driven rollers, which are rotated in sequence along the length direction and mounted on the side plates at the bottom of the front frame and the main frame. The slave synchronous pulley is fixed to one end of the driven roller. There are two rotating roller drive motors, which are respectively fixed in the front frame and the main frame. The output end of each roller drive motor is connected to an active step pulley, and the active step pulley is connected to the slave synchronous pulley on the corresponding front frame / main frame via a second toothed belt. The positioning clamping assembly is located below the left clamping plate and the right clamping plate, and includes a positioning clamping drive motor, a bidirectional screw, a guide optical shaft, a front clamping plate and a rear clamping plate. The two ends of the bidirectional screw are rotatably mounted on the side plates below the driven roller, the positioning and clamping drive motor is fixed to the bottom of the front frame and connected to the middle part of the bidirectional screw through a synchronous belt transmission mechanism, there are two guide light shafts, which are symmetrically mounted on both sides of the bidirectional screw, the upper part of the front clamping plate and the upper part of the rear clamping plate pass through the gap between adjacent driven rollers to form a clamping part, the bottom of the front clamping plate is matched with the positive teeth of the bidirectional screw through the front nut seat, and the two sides of the bottom of the front clamping plate have front sliders that slide with the guide light shaft, the bottom of the rear clamping plate is matched with the negative teeth of the bidirectional screw through the rear nut seat, and the two sides of the bottom of the rear clamping plate have rear sliders that slide with the guide light shaft.

7. The mushroom harvesting robot system according to claim 1 or 6, characterized in that: The vertical reversing transmission assembly includes two groups of steering transmission units, which are respectively located below the driven rollers corresponding to the first and second material receiving areas. Each steering transmission unit includes a load-bearing frame, a jacking drive motor, a jacking screw, a jacking nut, a weighing plate, a weighing sensor, a pressure plate, a synchronous drive motor, a transmission plate, a left conveyor belt transmission mechanism and a right conveyor belt transmission mechanism. The load-bearing frame is fixed to the bottom of the main frame. There are two jacking screws, which are vertically arranged side by side and rotatably mounted on the load-bearing frame through a bearing bracket. The jacking drive motor is connected to the lower end of each jacking screw through a synchronous belt transmission mechanism. The two ends of the weighing plate are connected to the jacking screw through the jacking nut. The top of the weighing plate is connected to a pressure plate through a weighing sensor. The two ends of the pressure plate extend outward and are connected to the two transmission plates. The left conveyor belt transmission mechanism and the right conveyor belt transmission mechanism are correspondingly rotatably mounted on the transmission plate, and the synchronous drive motor is fixed to the outside of any transmission plate and is connected to the driving pulley of the left conveyor belt transmission mechanism and the right conveyor belt transmission mechanism through a connecting shaft.

8. The mushroom harvesting robot system according to claim 1 or 6, characterized in that: A material basket centering assembly is provided in the front frame, and the material basket centering assembly includes a second translation mechanism, a side push plate, front and rear clamping drive motors, a clamping screw, a clamping optical axis, a front baffle and a rear baffle. The second translation mechanism is fixed in the front frame, and the side push plate is connected to the second translation mechanism and is arranged toward the proximal end of the lateral transmission assembly. Both ends of the clamping screw are rotatably mounted on the side plate below the driven roller. The front and rear clamping drive motors are fixed to the bottom of the front frame and are connected to the clamping screw through a synchronous belt transmission mechanism. The middle part of the rod is connected, and there are two clamping optical axes, which are symmetrically installed on both sides of the clamping screw. The upper part of the front baffle and the upper part of the rear baffle pass through the gap between adjacent driven rollers to form a centering part. The bottom of the front baffle is matched with the positive thread of the clamping screw through the first nut seat, and the two sides of the bottom of the front baffle have a first slider that slides with the clamping optical axis. The bottom of the rear baffle is matched with the negative thread of the clamping screw through the second nut seat, and the two sides of the bottom of the rear baffle have a second slider that slides with the clamping optical axis.

9. The mushroom harvesting robot system according to claim 1, characterized in that: The robot storage rack and the robot transfer rack have a slideway that cooperates with the walking mechanism of the automatic picking robot, an electric push rod is installed in the robot transfer rack, the output end of the electric push rod is connected to the top pressure block, and a track docking assembly is provided on the outlet side of the robot transfer rack, the track docking assembly includes an auxiliary track, a rotating motor, a first crank, a second crank and a ball joint, the auxiliary track is hinged to the front end of the slideway, a slide groove that cooperates with the ball joint is opened in the auxiliary track, the end of the ball joint is hinged to the second crank and the first crank in sequence, the rotating motor is fixed on the robot transfer rack, and the output shaft of the rotating motor is connected to the first crank.

10. The mushroom harvesting robot system according to claim 1, characterized in that: The automatic picking robot includes a base, a walking mechanism, a picking actuator, an X-axis moving mechanism, a Y-axis moving mechanism, a conveying device and a root cutting device. The conveying device includes a base plate, a conveying drive motor, an active conveying roller, a driven conveying roller, a conveyor belt and a soft brush rib. The soft brush rib is fixed on the base plate, the conveying drive motor is fixed to the proximal end of the base plate, the active conveying roller is connected to the output end of the conveying drive motor, the driven conveying roller is rotatably connected to the distal end of the base plate, the conveyor belt is cooperatively connected with the active conveying roller and the driven conveying roller, and the conveyor belt includes a first conveying part and a second conveying part; there are three soft brush ribs arranged side by side, the first soft brush rib is located on the outside of the first conveying part, the second soft brush rib is located between the first conveying part and the second conveying part, and the third soft brush rib is located on the outside of the second conveying part; The root cutting device includes a root cutting connecting seat, a forward driving motor, a driving gear, a driven rack, an electric finger clamp and two scissor blades. The root cutting connecting seat is connected to the Y-axis moving mechanism. A linear slide is fixed to the bottom of the root cutting connecting seat. The driven rack cooperates with the linear slide via a forward sliding block. The forward driving motor is fixedly connected to the root cutting connecting seat, the driving gear is connected to the output end of the forward driving motor, the driving gear is meshed with the driven rack, the electric finger clamp is fixedly connected to the driven rack, the two scissor blades are connected to the two clamps of the electric finger clamp, and the two scissor blades face the conveyor belt of the conveying device.

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